version: 66.13
glider: 401
mission: 22
dive: 3421
start: 9 23 117 16 15 29
data:
$ID,401
$MISSION,22
$DIVE,3421
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,17
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,4
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,230917,160548,5803.9565,-16927.4746,8,0.8,16,9.0,1.0,209.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-34.3
$GPS2,230917,161449,5803.9951,-16927.5234,0,0.9,16,9.0,0.4,84.8,9,4.8
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5756.510,-16908.641
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,117.8,23167,-11.8,-10.784,-15.15,6791
$D_GRID,55
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,239,1965,1851,4092,0.0,0.0,0,24,9.48,0.00,0.00,0.000,2049,0.082,0.000,1059,1966,1851,1851,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.23,53.15
$GC,31,-1.80,-487.5,1058,1965,1851,4094,0.6,0.0,1,54,7.25,1.35,-11.25,0.000,18948,0.037,1.238,1756,1516,3056,3056,4094,0,0,0,0,0,0,26.06,23.70,26.12,10.23,52.67
$GC,290,-1.80,-487.5,1756,1516,3062,4094,33.8,-13.6,22,294,0.00,0.95,0.00,0.000,1030,0.000,0.027,1757,1928,3062,3062,4094,0,0,0,0,0,0,26.31,26.27,26.33,10.46,52.75
$GC,366,-1.80,-487.5,1756,1929,3065,4094,44.3,-13.9,28,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1929,3065,3065,4095,0,0,0,0,0,0,26.67,26.69,26.68,10.44,51.53
$GC,438,-1.80,-487.5,1756,1929,3067,4095,54.6,-14.6,34,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1929,3067,3067,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.43,50.86
$STATE,455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,455,begin apogee
$GC,470,-0.45,0.0,1756,2141,3067,4094,58.1,-14.7,36,506,4.57,0.00,29.10,1.273,10244,0.054,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.09,25.01,23.60,10.42,51.10
$STATE,507,end apogee,CONTROL_FINISHED_OK
$STATE,507,begin climb
$GC,514,1.80,487.5,2185,2141,2485,4094,61.7,0.0,40,555,7.38,1.15,28.52,1.253,10756,0.030,0.041,2902,1697,1916,1916,4094,0,0,0,0,0,0,25.64,25.58,23.34,10.31,50.43
$GC,638,1.80,487.5,2902,1697,1913,4094,49.7,14.0,50,642,0.00,1.08,0.00,0.000,1030,0.000,0.029,2903,2133,1912,1912,4094,0,0,0,0,0,0,25.71,25.67,25.75,10.18,49.29
$GC,714,1.80,487.5,2902,2132,1911,4094,38.4,14.1,56,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1911,1911,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.17,49.37
$GC,786,1.80,487.5,2902,2132,1909,4094,28.4,13.8,62,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1908,1908,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.17,50.66
$GC,858,1.80,487.5,2902,2132,1906,4094,19.8,11.7,68,862,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1695,1907,1907,4094,0,0,0,0,0,0,26.46,25.91,26.48,10.20,51.14
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.5,1.024521,75
$GC,1022,0.11,75.2,2902,2142,1901,4094,1.5,12.2,80,1035,5.28,0.00,-4.43,0.000,20486,0.022,0.000,2370,2144,2403,2403,4095,0,0,0,0,0,0,26.29,24.38,26.34,10.22,53.46
$FINISH2,0.2
$STATE,1036,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$IRIDIUM_FIX,5807.26,-16600.79,230917,150317
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.85
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.34,99.061
$10V_AH,9.96,83.709
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.950,7.350,57.625,0.000,0.000,24.136,21.053,223.248,0.000,0.000,23.831,274.310,436.659,103.545,426.937,342.135,0.000,243.955,0.000,197.797,0.000,0.543,0.000
$DEVICE_MAMPS,81.855,1237.770,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333828
$DATA_FILE_SIZE,7330,82
$CAP_FILE_SIZE,22812,0
$CFSIZE,1024409600,887963648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230917,161449,5803.995,-16927.523,0,0.9,16,9.0,0.4,84.8,9,4.8